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<p><code>#include &lt;<a class="el" href="_drive_subsystem_8hpp_source.html">DriveSubsystem.hpp</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for DriveSubsystem:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_drive_subsystem.png" usemap="#DriveSubsystem_map" alt=""/>
  <map id="DriveSubsystem_map" name="DriveSubsystem_map">
<area href="class_robot_subsystem.html" alt="RobotSubsystem" shape="rect" coords="0,56,158,80"/>
<area href="class_subscriber.html" alt="Subscriber" shape="rect" coords="0,0,158,24"/>
<area href="class_tank_drive_subsystem.html" alt="TankDriveSubsystem" shape="rect" coords="0,168,158,192"/>
<area href="class_mecanum_drive_subsystem.html" alt="MecanumDriveSubsystem" shape="rect" coords="0,224,158,248"/>
</map>
 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:adbbe91a7fd62cf12702601070d50b6eb"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_drive_subsystem.html#adbbe91a7fd62cf12702601070d50b6eb">ControlMode</a> { <br/>
&#160;&#160;<b>ControlModePercentVBus</b> = PidMotorController::PercentVBus, 
<b>ControlModeSpeed</b> = PidMotorController::Speed, 
<b>ControlModeDistance</b> = PidMotorController::Position, 
<b>ControlModeVoltage</b> = PidMotorController::Voltage, 
<br/>
&#160;&#160;<b>ControlModeCurrent</b> = PidMotorController::Current
<br/>
 }</td></tr>
<tr class="separator:adbbe91a7fd62cf12702601070d50b6eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8bf21977a6b2911139200f2d2c32871a"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_drive_subsystem.html#a8bf21977a6b2911139200f2d2c32871a">SpeedReference</a> { <b>SpeedReferenceNothing</b> = CANJaguar::kSpeedRef_None, 
<b>SpeedReferenceEncoder</b> = CANJaguar::kSpeedRef_Encoder, 
<b>SpeedReferenceInvertedEncoder</b> = CANJaguar::kSpeedRef_InvEncoder, 
<b>SpeedReferenceQuadEncoder</b> = CANJaguar::kSpeedRef_QuadEncoder
 }</td></tr>
<tr class="separator:a8bf21977a6b2911139200f2d2c32871a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4cb48ca262f5befda36fb53263843d7"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_drive_subsystem.html#ad4cb48ca262f5befda36fb53263843d7">DistanceReference</a> { <b>DistanceReferenceNothing</b> = CANJaguar::kPosRef_None, 
<b>DistanceReferenceQuadEncoder</b> = CANJaguar::kPosRef_QuadEncoder, 
<b>DistanceReferencePotentiometer</b> = CANJaguar::kPosRef_Potentiometer
 }</td></tr>
<tr class="separator:ad4cb48ca262f5befda36fb53263843d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace82b46d96fe6a96f39a564e303de261"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_drive_subsystem.html#ace82b46d96fe6a96f39a564e303de261">NeutralMode</a> { <b>NeutralModeJumper</b> = CANJaguar::kNeutralMode_Jumper, 
<b>NeutralModeBrake</b> = CANJaguar::kNeutralMode_Brake, 
<b>NeutralModeCoast</b> = CANJaguar::kNeutralMode_Coast
 }</td></tr>
<tr class="separator:ace82b46d96fe6a96f39a564e303de261"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_methods_class_robot_subsystem"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_robot_subsystem')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_robot_subsystem.html">RobotSubsystem</a></td></tr>
<tr class="memitem:a1da520892f6bc3bec0a8bbbd974a9486 inherit pub_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a1da520892f6bc3bec0a8bbbd974a9486">RobotSubsystem</a> ()</td></tr>
<tr class="separator:a1da520892f6bc3bec0a8bbbd974a9486 inherit pub_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a76b7fadef83febf4ac9193d4892930c4 inherit pub_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a76b7fadef83febf4ac9193d4892930c4">~RobotSubsystem</a> ()</td></tr>
<tr class="separator:a76b7fadef83febf4ac9193d4892930c4 inherit pub_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ed521eac330d9892c5efcd801ac3474 inherit pub_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a2ed521eac330d9892c5efcd801ac3474">Stop</a> ()</td></tr>
<tr class="separator:a2ed521eac330d9892c5efcd801ac3474 inherit pub_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_class_robot_subsystem"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_robot_subsystem')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_robot_subsystem.html">RobotSubsystem</a></td></tr>
<tr class="memitem:a7066b5d072b9ff707aabad9c46fcdc55 inherit pro_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a7066b5d072b9ff707aabad9c46fcdc55">HandlePeriodic</a> ()</td></tr>
<tr class="separator:a7066b5d072b9ff707aabad9c46fcdc55 inherit pro_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e7a5b4382c3c6e8c0ead39f8fbed87d inherit pro_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a5e7a5b4382c3c6e8c0ead39f8fbed87d">HandleAwake</a> ()</td></tr>
<tr class="separator:a5e7a5b4382c3c6e8c0ead39f8fbed87d inherit pro_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27e1d6644dbf38a6a056abafa08980e8 inherit pro_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a27e1d6644dbf38a6a056abafa08980e8">HandleStop</a> ()=0</td></tr>
<tr class="separator:a27e1d6644dbf38a6a056abafa08980e8 inherit pro_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addfdd3a13805c1c08d2096541567f063 inherit pro_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="addfdd3a13805c1c08d2096541567f063"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>GetIsAwake</b> () const </td></tr>
<tr class="separator:addfdd3a13805c1c08d2096541567f063 inherit pro_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab307ef887a2a864004b407379aefbbe6 inherit pro_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#ab307ef887a2a864004b407379aefbbe6">Awake</a> ()</td></tr>
<tr class="separator:ab307ef887a2a864004b407379aefbbe6 inherit pro_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a20f2f77ab45ba583b019a786baa2d402 inherit pro_methods_class_robot_subsystem"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a20f2f77ab45ba583b019a786baa2d402">Sleep</a> ()</td></tr>
<tr class="separator:a20f2f77ab45ba583b019a786baa2d402 inherit pro_methods_class_robot_subsystem"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The <a class="el" href="class_drive_subsystem.html">DriveSubsystem</a> class is a base class for all drive subsystems. This class can not be used by itself. </p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a class="anchor" id="adbbe91a7fd62cf12702601070d50b6eb"></a>
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      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="class_drive_subsystem.html#adbbe91a7fd62cf12702601070d50b6eb">DriveSubsystem::ControlMode</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>The ControlMode enum is currently used only for CANJaguar control modes.</p>
<p>We hope in the future to support different modes given only normal motor controllers and corresponding encoders. </p>

</div>
</div>
<a class="anchor" id="ad4cb48ca262f5befda36fb53263843d7"></a>
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        <tr>
          <td class="memname">enum <a class="el" href="class_drive_subsystem.html#ad4cb48ca262f5befda36fb53263843d7">DriveSubsystem::DistanceReference</a></td>
        </tr>
      </table>
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<p>The DistanceReference enum is currently used only for CANJaguar position modes.</p>
<p>We hope in the future to support different modes given only normal motor controllers and corresponding encoders. </p>

</div>
</div>
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          <td class="memname">enum <a class="el" href="class_drive_subsystem.html#ace82b46d96fe6a96f39a564e303de261">DriveSubsystem::NeutralMode</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>The NeutralMode enum is currently used only for CANJaguar neutral modes.</p>
<p>We hope in the future to support different modes given only normal motor controllers. </p>

</div>
</div>
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          <td class="memname">enum <a class="el" href="class_drive_subsystem.html#a8bf21977a6b2911139200f2d2c32871a">DriveSubsystem::SpeedReference</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>The SpeedReference enum is currently used only for CANJaguar speed modes.</p>
<p>We hope in the future to support different modes given only normal motor controllers and corresponding encoders. </p>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Subsystems/<a class="el" href="_drive_subsystem_8hpp_source.html">DriveSubsystem.hpp</a></li>
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